Added audio tune signals for unit tests passing and failing.

src/systemcmds/tests/test_tone.cpp

@@ -72,16 +72,18 @@ int test_tone(int argc, char *argv[])
 	}
 
 	if (argc == 2) {
-		if (tune_control.tune_id <= 20) {
 		tune_control.tune_id = atoi(argv[1]);
-			PX4_INFO("Testing TuneID: %d", tune_control.tune_id);
+
+		if (tune_control.tune_id <= 20) {
+			PX4_INFO("TuneID: %d", tune_control.tune_id);
 		}
 	}
 
 	if (argc == 3) {
+		int volume = 40;
 		Tunes tunes{};
-		tunes.set_string(argv[2], 40);
+		tunes.set_string(argv[2], volume);
-		PX4_INFO("Testing custom tune.");
+		PX4_INFO("Custom tune.");
 	}
 
 	tune_control.strength = 40;

src/systemcmds/tests/tests_main.c

@@ -51,11 +51,11 @@
 #define TESTS_EIGEN_DISABLE
 
 
-static int test_all(int argc, char *argv[]);
 static int test_help(int argc, char *argv[]);
-static int test_jig(int argc, char *argv[]);
 static int test_runner(unsigned option);
 
+static int test_all(int argc, char *argv[]);
+static int test_jig(int argc, char *argv[]);
 
 const struct {
 	const char 	*name;
@@ -65,8 +65,8 @@ const struct {
 #define OPT_NOALLTEST	(1<<1)
 #define OPT_NOJIGTEST	(1<<2)
 } tests[] = {
-	{"all",             test_all,                   OPT_NOALLTEST | OPT_NOJIGTEST},
 	{"help",		test_help,	OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST},
+	{"all",			test_all,	OPT_NOALLTEST | OPT_NOJIGTEST},
 	{"jig",			test_jig,	OPT_NOJIGTEST | OPT_NOALLTEST},
 #ifdef __PX4_NUTTX
 	{"adc",			test_adc,	OPT_NOJIGTEST},
@@ -78,27 +78,29 @@ const struct {
 	{"uart_break",		test_uart_break,	OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"uart_console",	test_uart_console,	OPT_NOJIGTEST | OPT_NOALLTEST},
 #else
-	{"mavlink",         mavlink_tests_main,         0},
 	{"rc",			rc_tests_main,	0},
 #endif /* __PX4_NUTTX */
 
 	/* external tests */
 	{"commander",		commander_tests_main,	0},
 	{"controllib",		controllib_test_main,	0},
+#ifndef __PX4_NUTTX
+	{"mavlink",		mavlink_tests_main,	0},
+#endif
 	{"sf0x",		sf0x_tests_main,	0},
 	{"uorb",		uorb_tests_main,	0},
+	{"hysteresis",		test_hysteresis,	0},
 
+	{"mixer",		test_mixer,	OPT_NOJIGTEST},
 	{"autodeclination",	test_autodeclination,	0},
 	{"bezier",		test_bezierQuad, 0},
 	{"bson",		test_bson,	0},
 	{"conv",		test_conv, 0},
-	{"ctlmath",             test_controlmath,       0},
 	{"dataman",		test_dataman, OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"file2",		test_file2,	OPT_NOJIGTEST},
 	{"float",		test_float,	0},
 	{"hott_telemetry",	test_hott_telemetry,	OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"hrt",			test_hrt,	OPT_NOJIGTEST | OPT_NOALLTEST},
-	{"hysteresis",          test_hysteresis,        0},
 	{"int",			test_int,	0},
 	{"jig_voltages",	test_jig_voltages,	OPT_NOALLTEST},
 	{"mathlib",		test_mathlib,	0},
@@ -107,7 +109,6 @@ const struct {
 	{"microbench_math",		test_microbench_math,	0},
 	{"microbench_matrix",		test_microbench_matrix,	0},
 	{"microbench_uorb",		test_microbench_uorb,	0},
-	{"mixer",               test_mixer,             OPT_NOJIGTEST},
 	{"mount",		test_mount,	OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"param",		test_param,	0},
 	{"parameters",	test_parameters,	0},
@@ -118,34 +119,37 @@ const struct {
 	{"search_min",	test_search_min, 0},
 	{"servo",		test_servo,	OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"sleep",		test_sleep,	OPT_NOJIGTEST},
-	{"smooth_z",            test_smooth_z,          0},
 	{"tone",		test_tone,	0},
 	{"uart_loopback",	test_uart_loopback,	OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"uart_send",		test_uart_send,	OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"versioning",		test_versioning,	0},
+	{"ctlmath",		test_controlmath, 0},
+	{"smoothz", 	test_smooth_z, 0},
 	{NULL,			NULL, 		0}
 };
 
 #define NTESTS (sizeof(tests) / sizeof(tests[0]))
 
-static int
-test_all(int argc, char *argv[])
-{
-	return test_runner(OPT_NOALLTEST);
-}
-
 static int
 test_help(int argc, char *argv[])
 {
+	unsigned	i;
+
 	printf("Available tests:\n");
 
-	for (size_t i = 0; tests[i].name; i++) {
+	for (i = 0; tests[i].name; i++) {
 		printf("  %s\n", tests[i].name);
 	}
 
 	return 0;
 }
 
+static int
+test_all(int argc, char *argv[])
+{
+	return test_runner(OPT_NOALLTEST);
+}
+
 static int
 test_jig(int argc, char *argv[])
 {
@@ -155,24 +159,22 @@ test_jig(int argc, char *argv[])
 static int
 test_runner(unsigned option)
 {
-	size_t i = 0;
+	size_t i;
 	char *args[2] = {"all", NULL};
 	unsigned int failcount = 0;
 	unsigned int testcount = 0;
-	unsigned passed[NTESTS] = {};
+	unsigned int passed[NTESTS];
 
 	printf("\nRunning all tests...\n\n");
 
 	for (i = 0; tests[i].name; i++) {
-		/* Only run tests that are not excluded */
+		// Only run tests that are not excluded.
 		if (!(tests[i].options & option)) {
 			for (int j = 0; j < 80; j++) {
 				printf("-");
 			}
 
-			printf("\n");
+			printf("\n  [%s] \t\tSTARTING TEST\n", tests[i].name);
-
-			printf("  [%s] \t\tSTARTING TEST\n", tests[i].name);
 			fflush(stdout);
 
 			/* Execute test */
@@ -192,22 +194,19 @@ test_runner(unsigned option)
 				printf("-");
 			}
 
-			printf("\n\n");
-
 			testcount++;
+			printf("\n\n");
 		}
 	}
 
-	/* Print summary */
+	// Print summary.
 	printf("\n");
 
-	for (unsigned j = 0; j < 80; j++) {
+	for (size_t j = 0; j < 80; j++) {
 		printf("#");
 	}
 
-	printf("\n\n");
+	printf("\n\n     T E S T    S U M M A R Y\n\n");
-
-	printf("     T E S T    S U M M A R Y\n\n");
 
 	if (failcount == 0) {
 		printf("  ______     __         __            ______     __  __    \n");
@@ -216,7 +215,7 @@ test_runner(unsigned option)
 		printf("  \\ \\_\\ \\_\\  \\ \\_____\\  \\ \\_____\\     \\ \\_____\\  \\ \\_\\ \\_\\ \n");
 		printf("   \\/_/\\/_/   \\/_____/   \\/_____/      \\/_____/   \\/_/\\/_/ \n");
 		printf("\n");
-		printf(" All tests passed (%d of %d)\n", testcount, testcount);
+		printf(" All tests passed (%d of %d)\n\n", testcount, testcount);
 
 	} else {
 		printf("  ______   ______     __     __ \n");
@@ -225,24 +224,21 @@ test_runner(unsigned option)
 		printf("  \\ \\_\\    \\ \\_\\ \\_\\  \\ \\_\\  \\ \\_____\\ \n");
 		printf("   \\/_/     \\/_/\\/_/   \\/_/   \\/_____/ \n");
 		printf("\n");
-		printf(" Some tests failed (%d of %d)\n", failcount, testcount);
+		printf(" Some tests failed (%d of %d)\n\n", failcount, testcount);
 	}
 
-	printf("\n");
+	// Print failed tests.
-
-	/* Print failed tests */
 	if (failcount > 0) {
 		printf(" Failed tests:\n\n");
 	}
 
-	for (unsigned k = 0; k < i; k++) {
+	for (size_t k = 0; k < i; k++) {
 		if (!passed[k] && !(tests[k].options & option)) {
 			printf(" [%s] to obtain details, please re-run with\n\t nsh> tests %s\n\n", tests[k].name, tests[k].name);
 		}
 	}
 
 	fflush(stdout);
-
 	return (failcount > 0);
 }
 
@@ -258,13 +254,33 @@ int tests_main(int argc, char *argv[])
 		return 1;
 	}
 
+	int tone_test_index = -1;
+	char *tone_test = {"tone"};
+	char *tone_fail[2] = {NULL, "2"};
+	char *tone_pass[2] = {NULL, "14"};
+
+	// Identify the tone test index for later use.
+	for (size_t i = 0; tests[i].name; i++) {
+		if (*tone_test == *tests[i].name) {
+			tone_test_index = i;
+		}
+	}
+
 	for (size_t i = 0; tests[i].name; i++) {
 		if (!strcmp(tests[i].name, argv[1])) {
 			if (tests[i].fn(argc - 1, argv + 1) == 0) {
+				if (tone_test_index != -1) {
+					tests[tone_test_index].fn(2, tone_pass); // Play a notification.
+				}
+
 				printf("%s PASSED\n", tests[i].name);
 				return 0;
 
 			} else {
+				if (tone_test_index != -1) {
+					tests[tone_test_index].fn(2, tone_fail); // Play an error notification.
+				}
+
 				printf("%s FAILED\n", tests[i].name);
 				return -1;
 			}